scale_truck_control_ros2

ROS2 based scale_truck_control system

Develop History

2024.02.03

Implemented dual ROI version for normal and lane-changing modes

- Added distinction between normal mode and lane change mode using two versions of ROI.
- Established lane change process: CMD -> FV2 lane change command -> FV2 lane change complete -> CMD -> FV1 lane change command -> FV1 lane change complete -> CMD -> LV lane change command -> LV lane change complete -> CMD.
- Implemented controller button toggle upon completion of lane change.
- Lane change of Scale truck platooning system for RSS 2024.
- Developed from 'Cyclops: Open Platform for Scale Truck Platooning'.

I. Hardware

High-level Controller - NVIDIA Jetson AGX Orin 64GB
Low-level Controller  - OpenCR 1.0 (ARM Cortex-M7)
two USB Camera        - ELP-USBFHD04H-BL180
Lidar                 - RPLidar A3 & S2

II. Software

Hige-level Controller

Jetpack : 5.1.1 version - Ubuntu 20.04 focal
OpenCV  : 4.4.0 version - include options (GPU, CUDA, CUDNN)
ROS 2   : galactic version

Low-level Controller

ros2 libarary

0. Set OpenCV 4.4.0

If your device is laptop, click below link and install Opencv 4.4.0.

https://velog.io/@minukiki/Ubuntu-20.04%EC%97%90-OpenCV-4.4.0-%EC%84%A4%EC%B9%98

Uninstall old version of OpenCV

sudo apt-get purge  libopencv* python-opencv
# sudo apt-get autoremove
sudo find /usr/local/ -name "*opencv*" -exec rm -i {} \;

Install 4.4.0 version of OpenCV

sudo apt-get update
sudo apt-get upgrade

sudo apt-get -y install build-essential cmake
sudo apt-get -y install pkg-config
sudo apt-get -y install libjpeg-dev libtiff5-dev libpng-dev
sudo apt-get -y install ffmpeg libavcodec-dev libavformat-dev libswscale-dev libxvidcore-dev libx264-dev libxine2-dev
sudo apt-get -y install libv4l-dev v4l-utils
sudo apt-get -y install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev 
sudo apt-get -y install libgtk-3-dev
sudo apt-get -y install mesa-utils libgl1-mesa-dri libgtkgl2.0-dev libgtkglext1-dev
sudo apt-get -y install libatlas-base-dev gfortran libeigen3-dev
sudo apt-get -y install python3-dev python3-numpy

Download OpenCV 4.4.0 source file

mkdir OpenCV && cd OpenCV
git clone -b 4.4.0 https://github.com/opencv/opencv
git clone -b 4.4.0 https://github.com/opencv/opencv_contrib
cd opencv && mkdir build && cd build

Build OpenCV 4.4.0

cmake -D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \
-D WITH_OPENCL=OFF \
-D WITH_CUDA=ON \
-D CUDA_ARCH_BIN=8.7 \
-D CUDA_ARCH_PTX="" \
-D WITH_CUDNN=ON \
-D WITH_CUBLAS=ON \
-D ENABLE_FAST_MATH=ON \
-D CUDA_FAST_MATH=ON \
-D OPENCV_DNN_CUDA=ON \
-D ENABLE_NEON=ON \
-D WITH_QT=OFF \
-D WITH_OPENMP=ON \
-D WITH_OPENGL=ON \
-D BUILD_TIFF=ON \
-D WITH_FFMPEG=ON \
-D WITH_GSTREAMER=ON \
-D WITH_TBB=ON \
-D BUILD_TBB=ON \
-D BUILD_TESTS=OFF \
-D WITH_V4L=ON \
-D WITH_LIBV4L=ON \
-D OPENCV_ENABLE_NONFREE=ON \
-D INSTALL_C_EXAMPLES=OFF \
-D INSTALL_PYTHON_EXAMPLES=OFF \
-D BUILD_NEW_PYTHON_SUPPORT=ON \
-D BUILD_opencv_python3=TRUE \
-D OPENCV_GENERATE_PKGCONFIG=ON \
-D BUILD_EXAMPLES=OFF \
..

sudo make install -j12

Jetson Stats

sudo apt-get install python3-pip
sudo -H pip3 install jetson-stats
jetson_release

1. Install ROS2 (Galactic)

https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html

Set locale

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Setup Sources

sudo apt install software-properties-common
sudo add-apt-repository universe

#Now add the ROS 2 GPG key with apt.
sudo apt update && sudo apt install curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

#Then add the repository to your sources list.
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS2 galactic

sudo apt update
sudo apt upgrade
sudo apt install ros-galactic-desktop

colcon install

sudo apt install python3-colcon-common-extensions

Environment setup

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/galactic/setup.bash
mkdir -p ~/ros2_ws/src

2. Install vision_opencv, cv_bridge

Create libopencv_imgproc.so.4.4.0

No --allow-overriding 'packages'

cd ~/ros2_ws/src
git clone -b galactic https://github.com/ros-perception/vision_opencv.git

cd vision_opencv/cv_bridge
vim CMakeLists.txt

# fix the below
--find_package(OpenCV 4 QUIET
++find_package(OpenCV 4.4 QUIET

cd ~/ros2_ws
colcon build --symlink-install && . install/setup.bash
#Then move package to other directory
cd ~/ros2_ws/src
mv vision_opencv ~/

3. Install Micro-ros-Aruduino

On your ros2 workspace

source /opt/ros/galactic/setup.bash
cd ~/ros2_ws/src 
git clone https://github.com/micro-ROS/micro_ros_setup.git -b galactic

rosdep으로 의존 패키지 업데이트

sudo apt update && rosdep update
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -y

micro-ROS tools 과 소스 빌드

cd ~/ros2_ws
colcon build --packages-select micro_ros_setup
source install/local_setup.bash

micro-ROS agent 패키지 설치

cd ~/ros2_ws
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash

Test

sudo chmod 777 /dev/ttyACM0
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

4. Install ROS2 Packages

ros2_msg

cd ~/ros2_ws/src
git clone https://github.com/AveesLab/ros2_msg.git
cd ~/ros2_ws && colcon build --symlink-install && . install/setup.bash

usb_cam

sudo apt-get install ros-galactic-usb-cam
cd ~/ros2_ws/src
git clone https://github.com/ros-drivers/usb_cam.git -b ros2

rplidar_ros2

cd ~/ros2_ws/src
git clone https://github.com/CarlDegio/rplidar_ros.git -b ros2

laser_filter

sudo apt-get install ros-galactic-filters
sudo apt-get install ros-galactic-angles
sudo apt-get install ros-galactic-laser-geometry
sudo ln -s /usr/include/eigen3/Eigen  /usr/include/Eigen
cd ~/ros2_ws/src
git clone https://github.com/wonseokkkk/laser_filters.git

object_detection

sudo apt-get install ros-galactic-perception-pcl
cd ~/ros2_ws/src
git clone https://github.com/AveesLab/object_detection_ros2.git

lane_detection

cd ~/ros2_ws/src
git clone https://github.com/AveesLab/lane_detection_ros2.git

yolo_object_detection_ros2

cd ~/ros2_ws/src
git clone https://github.com/AveesLab/yolo_object_detection_ros2.git
cd yolo_object_detection_ros2/darknet
make -j12

scale_truck_control_ros2

cd ~/ros2_ws/src
git clone https://github.com/AveesLab/scale_truck_control_ros2.git

5. Run

LV(Leading Vehicle) rosbag file download (onedrive-2.66GB)

LV rosbag file download

FV(Following Vehicle) rosbag file download (onedrive-2.71GB)

FV rosbag file download

Rosbag run

ros2 bag play -l [rosbag file name].bag

Ros launch

ros2 launch scale_truck_control_ros2 [launch file name].py

alias command Setup

sudo vim ~/.bashrc

add the below

alias cw='cd ~/ros2_ws/src'
alias cb='source ~/ros2_ws/install/setup.bash'
alias sb='source ~/.bashrc'
alias cm='cd ~/ros2_ws && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug && . install/setup.bash'
alias eb='sudo vim ~/.bashrc'

source ~/.bashrc

build ROS2 packages

cm

Name		Name	Last commit message	Last commit date
Latest commit History 284 Commits
config		config
etc		etc
include		include
launch		launch
nodes		nodes
src		src
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
README.md		README.md
package.xml		package.xml

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Repository files navigation

scale_truck_control_ros2

Develop History

I. Hardware

II. Software

0. Set OpenCV 4.4.0

1. Install ROS2 (Galactic)

Set locale

Setup Sources

Install ROS2 galactic

colcon install

Environment setup

2. Install vision_opencv, cv_bridge

3. Install Micro-ros-Aruduino

4. Install ROS2 Packages

5. Run

alias command Setup

build ROS2 packages

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AveesLab/scale_truck_control_ros2

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Repository files navigation

scale_truck_control_ros2

Develop History

I. Hardware

II. Software

0. Set OpenCV 4.4.0

1. Install ROS2 (Galactic)

Set locale

Setup Sources

Install ROS2 galactic

colcon install

Environment setup

2. Install vision_opencv, cv_bridge

3. Install Micro-ros-Aruduino

4. Install ROS2 Packages

5. Run

alias command Setup

build ROS2 packages

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Contributors 2

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